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<a href="#func-members">Functions</a>  </div>
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<div class="title">motors.c File Reference</div>  </div>
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<div class="textblock"><code>#include &quot;<a class="el" href="motors_8h_source.html">motors.h</a>&quot;</code><br/>
</div><table class="memberdecls">
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="motors_8c.html#a984b662dbcf5b55b90fc02e2f866a206">initMotors</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Configure the timer3 and timer4 registers to work at about 122 Hz.  <a href="#a984b662dbcf5b55b90fc02e2f866a206"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">signed int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="motors_8c.html#af76a4c98fa3e4f08e2457f227bad9435">cast_speed</a> (signed int vel)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="motors_8c.html#afca6b6bae07c747c6c7d4980ae19159f">handleMotorsWithNoController</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Change the motors speed (pwm registers) accordingly to the obstacle avoidance (if enabled) and speed controller. In this function both the motors velocities measurements are also updated.  <a href="#afca6b6bae07c747c6c7d4980ae19159f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="motors_8c.html#a03a15e1a0e7b850c435667674478c096">handleMotorsWithSpeedController</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Change the motors speed (pwm registers) accordingly to the obstacle avoidance (if enabled). In this function both the motors velocities measurements are also updated (even if not needed).  <a href="#a03a15e1a0e7b850c435667674478c096"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="motors_8c.html#ad5a48454a238e152a50a46054faef69e">setLeftSpeed</a> (signed char vel)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the desired speed for the left motor.  <a href="#ad5a48454a238e152a50a46054faef69e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="motors_8c.html#ac2e0fa600855023342f960b0960f894f">setRightSpeed</a> (signed char vel)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the desired speed for the right motor.  <a href="#ac2e0fa600855023342f960b0960f894f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="motors_8c.html#a845819f66f38cc796aa80b1b34bf1062">handleCalibration</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="motors_8c.html#a7dd331623224e5765907e557696e5307">updateOdomData</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">signed int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="motors_8c.html#a8614958c5393625712d698818e02631f">getInputFromSpeed</a> (signed int s, unsigned char mode)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="motors_8c.html#ad6901423b66ff381666f170119035c36">getRightSpeedFromInput</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="motors_8c.html#a5d82c1900c839ae10b9b23252b405ee7">getLeftSpeedFromInput</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="motors_8c.html#a92320c5124f0356c4a1c4dd1227eb9ba">writeDefaultCalibration</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="motors_8c.html#af32f2e285d132059238f06dc9e59526a">initCalibration</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="motors_8c.html#a33c40fdd48fd7bb540f034e5c489a38b">ISR</a> (TIMER4_OVF_vect)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="motors_8c.html#a8aa6a32130ab26be17555166513a23ba">ISR</a> (TIMER4_COMPA_vect)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="motors_8c.html#afb509f06569035c0093abd699b2eb45e">ISR</a> (TIMER4_COMPB_vect)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="motors_8c.html#a3657e3972e59185a247b24ac0153d99c">ISR</a> (TIMER3_OVF_vect)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="motors_8c.html#a86953738188622410b88938da2bf8a63">ISR</a> (TIMER3_COMPA_vect)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="motors_8c.html#a31e211eaf3d75b51ddc639533541f25e">ISR</a> (TIMER3_COMPB_vect)</td></tr>
</table>
<hr/><h2>Function Documentation</h2>
<a class="anchor" id="af76a4c98fa3e4f08e2457f227bad9435"></a><!-- doxytag: member="motors.c::cast_speed" ref="af76a4c98fa3e4f08e2457f227bad9435" args="(signed int vel)" -->
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          <td class="memname">signed int <a class="el" href="motors_8h.html#af76a4c98fa3e4f08e2457f227bad9435">cast_speed</a> </td>
          <td>(</td>
          <td class="paramtype">signed int&#160;</td>
          <td class="paramname"><em>vel</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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</div>
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<a class="anchor" id="a8614958c5393625712d698818e02631f"></a><!-- doxytag: member="motors.c::getInputFromSpeed" ref="a8614958c5393625712d698818e02631f" args="(signed int s, unsigned char mode)" -->
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          <td class="memname">signed int <a class="el" href="motors_8h.html#a8614958c5393625712d698818e02631f">getInputFromSpeed</a> </td>
          <td>(</td>
          <td class="paramtype">signed int&#160;</td>
          <td class="paramname"><em>s</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>mode</em>&#160;</td>
        </tr>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<a class="anchor" id="a5d82c1900c839ae10b9b23252b405ee7"></a><!-- doxytag: member="motors.c::getLeftSpeedFromInput" ref="a5d82c1900c839ae10b9b23252b405ee7" args="()" -->
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          <td class="memname">void <a class="el" href="motors_8h.html#a5d82c1900c839ae10b9b23252b405ee7">getLeftSpeedFromInput</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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<a class="anchor" id="ad6901423b66ff381666f170119035c36"></a><!-- doxytag: member="motors.c::getRightSpeedFromInput" ref="ad6901423b66ff381666f170119035c36" args="()" -->
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          <td class="memname">void <a class="el" href="motors_8h.html#ad6901423b66ff381666f170119035c36">getRightSpeedFromInput</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<a class="anchor" id="a845819f66f38cc796aa80b1b34bf1062"></a><!-- doxytag: member="motors.c::handleCalibration" ref="a845819f66f38cc796aa80b1b34bf1062" args="()" -->
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          <td class="memname">void <a class="el" href="motors_8h.html#a845819f66f38cc796aa80b1b34bf1062">handleCalibration</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<a class="anchor" id="afca6b6bae07c747c6c7d4980ae19159f"></a><!-- doxytag: member="motors.c::handleMotorsWithNoController" ref="afca6b6bae07c747c6c7d4980ae19159f" args="()" -->
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          <td class="memname">void <a class="el" href="motors_8h.html#afca6b6bae07c747c6c7d4980ae19159f">handleMotorsWithNoController</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Change the motors speed (pwm registers) accordingly to the obstacle avoidance (if enabled) and speed controller. In this function both the motors velocities measurements are also updated. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
</div>
<a class="anchor" id="a03a15e1a0e7b850c435667674478c096"></a><!-- doxytag: member="motors.c::handleMotorsWithSpeedController" ref="a03a15e1a0e7b850c435667674478c096" args="()" -->
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          <td class="memname">void <a class="el" href="motors_8h.html#a03a15e1a0e7b850c435667674478c096">handleMotorsWithSpeedController</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
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<div class="memdoc">

<p>Change the motors speed (pwm registers) accordingly to the obstacle avoidance (if enabled). In this function both the motors velocities measurements are also updated (even if not needed). </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
</div>
<a class="anchor" id="af32f2e285d132059238f06dc9e59526a"></a><!-- doxytag: member="motors.c::initCalibration" ref="af32f2e285d132059238f06dc9e59526a" args="()" -->
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          <td class="memname">void <a class="el" href="motors_8h.html#af32f2e285d132059238f06dc9e59526a">initCalibration</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<a class="anchor" id="a984b662dbcf5b55b90fc02e2f866a206"></a><!-- doxytag: member="motors.c::initMotors" ref="a984b662dbcf5b55b90fc02e2f866a206" args="()" -->
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          <td class="memname">void <a class="el" href="motors_8h.html#a984b662dbcf5b55b90fc02e2f866a206">initMotors</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Configure the timer3 and timer4 registers to work at about 122 Hz. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
</div>
<a class="anchor" id="a33c40fdd48fd7bb540f034e5c489a38b"></a><!-- doxytag: member="motors.c::ISR" ref="a33c40fdd48fd7bb540f034e5c489a38b" args="(TIMER4_OVF_vect)" -->
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<a class="anchor" id="ad5a48454a238e152a50a46054faef69e"></a><!-- doxytag: member="motors.c::setLeftSpeed" ref="ad5a48454a238e152a50a46054faef69e" args="(signed char vel)" -->
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          <td>(</td>
          <td class="paramtype">signed char&#160;</td>
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<p>Set the desired speed for the left motor. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">vel</td><td>desired velocity to set (from -100 to 100) </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

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<a class="anchor" id="ac2e0fa600855023342f960b0960f894f"></a><!-- doxytag: member="motors.c::setRightSpeed" ref="ac2e0fa600855023342f960b0960f894f" args="(signed char vel)" -->
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          <td class="memname">void <a class="el" href="motors_8h.html#ac2e0fa600855023342f960b0960f894f">setRightSpeed</a> </td>
          <td>(</td>
          <td class="paramtype">signed char&#160;</td>
          <td class="paramname"><em>vel</em></td><td>)</td>
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<p>Set the desired speed for the right motor. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">vel</td><td>desired velocity to set (from -100 to 100) </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
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